{"id":"https://openalex.org/W3190401561","doi":"https://doi.org/10.3390/s21165367","title":"Design and Research of All-Terrain Wheel-Legged Robot","display_name":"Design and Research of All-Terrain Wheel-Legged Robot","publication_year":2021,"publication_date":"2021-08-09","ids":{"openalex":"https://openalex.org/W3190401561","doi":"https://doi.org/10.3390/s21165367","mag":"3190401561","pmid":"https://pubmed.ncbi.nlm.nih.gov/34450814"},"language":"en","primary_location":{"id":"doi:10.3390/s21165367","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165367","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5367/pdf?version=1628511661","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/16/5367/pdf?version=1628511661","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013778253","display_name":"Jianwei Zhao","orcid":"https://orcid.org/0000-0002-2831-1201"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianwei Zhao","raw_affiliation_strings":["School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China"],"raw_orcid":"https://orcid.org/0000-0002-2831-1201","affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101488090","display_name":"Tao Han","orcid":"https://orcid.org/0000-0002-1971-6207"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Han","raw_affiliation_strings":["School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China"],"raw_orcid":"https://orcid.org/0000-0002-1971-6207","affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081295822","display_name":"Shouzhong Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144889","display_name":"Beijing Municipal Engineering Design and Research Institute (China)","ror":"https://ror.org/03x92hw77","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210144889"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shouzhong Wang","raw_affiliation_strings":["Beijing Special Engineering and Design Institute, Beijing 100028, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Special Engineering and Design Institute, Beijing 100028, China","institution_ids":["https://openalex.org/I4210144889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100667414","display_name":"Chengxiang Liu","orcid":"https://orcid.org/0000-0002-2743-8710"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengxiang Liu","raw_affiliation_strings":["School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101722848","display_name":"Jianhua Fang","orcid":"https://orcid.org/0000-0002-6780-4631"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Fang","raw_affiliation_strings":["School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China"],"raw_orcid":"https://orcid.org/0000-0002-6780-4631","affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062301374","display_name":"Shengyi Liu","orcid":"https://orcid.org/0000-0002-6639-372X"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyi Liu","raw_affiliation_strings":["School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China"],"raw_orcid":"https://orcid.org/0000-0002-6639-372X","affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100089, China","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5013778253"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.1218,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.86775021,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"21","issue":"16","first_page":"5367","last_page":"5367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9521999955177307,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8101344108581543},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7636934518814087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7003617286682129},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6525171399116516},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6014479398727417},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5531988739967346},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5258258581161499},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5021708011627197},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.485705703496933},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47527948021888733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4389409124851227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42085200548171997},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.413524329662323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24545875191688538}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8101344108581543},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7636934518814087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7003617286682129},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6525171399116516},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6014479398727417},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5531988739967346},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5258258581161499},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5021708011627197},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.485705703496933},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47527948021888733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4389409124851227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42085200548171997},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.413524329662323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24545875191688538},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21165367","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165367","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5367/pdf?version=1628511661","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:34450814","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34450814","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:81f1bf5b04f540068335c3277dcb5e3c","is_oa":true,"landing_page_url":"https://doaj.org/article/81f1bf5b04f540068335c3277dcb5e3c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 16, p 5367 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/16/5367/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21165367","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 21; Issue 16; Pages: 5367","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8401446","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8401446","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21165367","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165367","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5367/pdf?version=1628511661","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4833144035","display_name":null,"funder_award_id":"BIA200191","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G649634298","display_name":null,"funder_award_id":"51575005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3190401561.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W560885609","https://openalex.org/W1975230295","https://openalex.org/W2009797417","https://openalex.org/W2502166081","https://openalex.org/W2603000620","https://openalex.org/W2747644981","https://openalex.org/W2767018444","https://openalex.org/W2767704770","https://openalex.org/W2789771046","https://openalex.org/W2895973219","https://openalex.org/W2912365230","https://openalex.org/W2920812058","https://openalex.org/W2941358109","https://openalex.org/W2949083497","https://openalex.org/W3003397085","https://openalex.org/W3076622104","https://openalex.org/W3089845284","https://openalex.org/W3120311204","https://openalex.org/W3126317579","https://openalex.org/W3195682734","https://openalex.org/W3208915907","https://openalex.org/W4243385754","https://openalex.org/W6762891217","https://openalex.org/W7018552824"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,11,31,35,42,54,73,78,94,103,109,120,126,149,156,159,163,169,174],"crossing":[3,87,101,166],"problem":[4],"of":[5,13,56,72,97,122,158,168,181],"complex":[6,127,182],"terrain,":[7],"to":[8,30,34,62,116,138,178],"further":[9],"improve":[10],"ability":[12,167],"obstacles":[14],"crossing,":[15],"this":[16],"paper":[17],"designs":[18],"and":[19,47,59,69,83,85,118,130,144,154,162],"develops":[20],"an":[21],"all-terrain":[22],"wheel-legged":[23],"hybrid":[24],"robot":[25,43,74,104,123,175],"(WLHR)":[26],"with":[27],"strong":[28],"adaptability":[29],"environment.":[32],"According":[33],"operation":[36],"requirements":[37],"in":[38],"different":[39],"road":[40,128,183],"conditions,":[41],"adopts":[44],"a":[45,133,179],"wheel":[46,57,99],"leg":[48,60],"compound":[49],"structure,":[50],"which":[51],"can":[52,176],"realize":[53],"transformation":[55],"movement":[58,61],"adjust":[63],"its":[64,140],"motion":[65],"state.":[66],"The":[67],"straight":[68],"turning":[70],"process":[71,121],"is":[75,81,89,114,136,152],"analyzed":[76],"theoretically,":[77],"kinematics":[79],"model":[80,96],"established":[82],"solved,":[84],"obstacle":[86,100,165],"analysis":[88,110,143],"carried":[90],"out":[91],"by":[92],"establishing":[93],"mathematical":[95],"front":[98],"when":[102],"meets":[105],"obstacles.":[106],"To":[107],"verify":[108,139],"results,":[111],"ADAMS":[112],"software":[113],"used":[115],"simulate":[117],"analyze":[119],"running":[124],"on":[125],"surface":[129],"obstacles-crossing.":[131],"Finally,":[132],"theoretical":[134],"prototype":[135],"made":[137],"feasibility.":[141],"Theoretical":[142],"experimental":[145],"results":[146],"show":[147],"that":[148,173],"designed":[150],"WLHR":[151],"feasible":[153],"has":[155],"stability":[157],"wheeled":[160],"mechanism":[161,171],"higher":[164],"legged":[170],"so":[172],"adapt":[177],"variety":[180],"conditions.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
